Robot cable wiring structure

Abstract

The invention relates to the field of robot material carrying, in particular to a robot cable wiring structure which comprises a machine body serving as a basic bearing part and a shell fixed to the top of the machine body through a fastener. The built-in assembly is used for reducing the friction loss between the robot cable and a hole wall; the drag chain assembly is detachably and fixedly connected with the machine body through a drag chain mounting plate; the rotating assembly is used for preventing the edge of the robot cable from being abraded; the edge assembly is used for further reducing the friction between the robot cable; according to the fixing assembly jointly achieving axial positioning of the cable fixing end of the robot cable, the chain link structure design of the drag chain ensures that the fixed bending radius is always kept in the moving process, the bending form of the cable moving end is restrained, the fixed bending radius can be kept in the moving process of the robot cable, and therefore the robot cable can be fixed. The robot cable is prevented from synchronously rotating along with the rotating part, the service life of the robot cable is prolonged, and the purposes of saving the robot installation space and prolonging the service life of the robot cable are achieved.

Description

Technical Field

[0001] This invention relates to the field of robot material handling, specifically a robot cable wiring structure. Background Technology

[0002] In robotic material handling applications, due to the limited workspace of robots, there are high requirements for the robot's external dimensions and the space occupied by its external cabling components. External cabling requires additional cabling components, which takes up more installation space. In addition, as robot technology develops towards higher speed and higher cycle time, the lifespan of robot cables has become a key issue affecting the reliability and service life of robots.

[0003] Patent Document 1: Application No. 202223161868.9 Robotic Arm and SCARA Robot; Patent Document 2: Application No. 12004677.6 SCARA robot with a hollow spindle which moves vertically; Patent document 1 provides a solution for hollow ball screw shafts, which are used to nest spline shafts, and robot cables cannot be routed through the hollow ball screw shaft; Patent document 2 provides a cable routing scheme for a hollow ball spline screw, in which the robot cable passes through the hollow shaft. However, the robot cable requires an additional cable bracket to be added to the body, which increases the overall size of the robot. In addition, the bending radius of the motion cable is not fixed, and the lifespan of the robot cable is short as the ball spline screw rotates. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a robot cable wiring structure.

[0005] A robot cable wiring structure includes a body as a basic load-bearing component, a shell fixed to the top of the body by fasteners, an internal component for reducing frictional loss between the robot cable and the hole wall, a drag chain component that is detachably fixed to the body by a drag chain mounting plate, a rotating component to prevent wear on the edge of the robot cable, an edge component to further reduce friction on the robot cable, and a fixing component that together achieves axial positioning of the fixed end of the robot cable.

[0006] The built-in components include a ball spline screw assembled inside the machine body along a fixed axial direction and a hollow hole opened at the center of the ball spline screw.

[0007] The hollow hole has a wear-resistant layer on its inner wall. The hollow hole 603 has a shoulder 1 and a shoulder 2 at both ends, and a retaining ring groove 2 and a retaining ring groove 1 that respectively cooperate with the shoulder 1 and the shoulder 2.

[0008] The cable chain assembly includes a cable chain with a moving end and a fixed end. The moving end is fixedly connected to the fixed plate through a fixing hole on the fixed plate, and the fixed end is detachably fixedly connected to the machine body through a cable chain mounting plate.

[0009] The moving ends of the cables on the robot cable are evenly distributed inside the cable chain.

[0010] The rotating assembly includes a first fixed plate, a second fixed plate, a first fixed hole and a second fixed hole on the first fixed plate, a first bearing mounting sleeve that forms a rotatable fit with the first fixed plate via a second bearing, a ball spline screw rigidly connected to the first bearing mounting sleeve, a wire-passing hole on the first fixed plate, and a first fixed plate fillet and a second fixed plate fillet respectively located at both ends of the wire-passing hole wall.

[0011] The edge assembly includes a second bearing mounting sleeve and a third bearing mounting sleeve that are rotatably fitted to the inner wall of the hollow hole of the ball spline screw through bearing one and bearing three, respectively.

[0012] The fixing components include a first wire guide sleeve, a second wire guide sleeve, a second bearing mounting sleeve and a third bearing mounting sleeve that are fixed with the first wire guide sleeve by an interference fit, a wire guide hole opened on the first wire guide sleeve, a wire clamp that is fixedly connected to the first fixing plate by a wire clamp mounting plate, and a cable fixing bracket that is fixedly connected to the first fixing plate.

[0013] Both the first and second wire guide sleeves are made of soft material.

[0014] The wire clamp has a wire clamp hole.

[0015] The beneficial effects of this invention are as follows: In order to overcome the shortcomings of the prior art, a wiring structure is provided that enables the arrangement of robot cables inside the robot joint. This structure ensures that the cable maintains a fixed bending radius during movement through the chain link structure design, constraining the bending shape of the moving end of the cable. This allows the robot cable to maintain a fixed bending radius during movement, preventing the robot cable from rotating synchronously with the rotating parts, thus extending the life of the robot cable and achieving the purpose of saving robot installation space and improving the life of the robot cable. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 This is a partial structural diagram of the present invention; Figure 3 This is a schematic diagram of the wire clamp structure of the present invention; Figure 4This is a schematic diagram of the fixing plate structure of the present invention; Figure 5 This is a schematic diagram of the main structure of the ball spline screw of the present invention; Figure 6 This is a schematic diagram of the wire guide sleeve structure of the present invention; Reference numerals: 1. Fixing plate one; 101. Fixing plate wire hole; 102. Fixing hole one; 103. Fixing hole two; 104. Fixing plate fillet one; 105. Fixing plate fillet two; 2. Robot cable; 201. Cable moving end; 202. Cable fixing end; 203. Cable end; 3. Wire guide sleeve one; 301. Wire hole; 302. Wire guide sleeve fillet; 303. Groove; 4. Fixing plate two; 5. First bearing mounting sleeve; 6. Ball spline screw; 601. Wear-resistant layer; 6 02. Shoulder 1; 603. Hollow Hole; 604. Snap Ring Groove 1; 605. Shoulder 2; 606. Snap Ring Groove 2; 7. Bearing 1; 8. Second Bearing Mounting Sleeve; 9. Bearing 3; 10. Cable Passing Sleeve 2; 11. Third Bearing Mounting Sleeve; 12. Body; 13. Outer Shell; 14. Cable Carrier Mounting Plate; 15. Cable Carrier; 1501. Fixed End; 1502. Moving End; 16. Cable Clamp; 1601. Cable Clamp Hole; 17. Cable Clamp Mounting Plate; 18. Cable Fixing Bracket; 19. Bearing 2. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below.

[0019] like Figures 1 to 6 As shown, a robot cable wiring structure includes a body 12 as a basic load-bearing component, a shell 13 fixed to the top of the body 12 by fasteners, an internal component for reducing frictional loss between the robot cable 2 and the hole wall, a drag chain component that forms a detachable fixed connection with the body 12 through a drag chain mounting plate 14, a rotating component to prevent edge wear of the robot cable 2, an edge component to further reduce friction of the robot cable 2, and a fixing component that together realizes the axial positioning of the cable fixing end 202 of the robot cable 2.

[0020] The body 12 is the basic support component, and the outer shell 13 is fixed to the top of the body 12 by fasteners. The two enclose each other to form a sealed installation cavity. All moving parts and robot cables 2 are built into this cavity, achieving a compact space design.

[0021] The built-in components include a ball spline screw 6 assembled inside the body 12 along a fixed axial direction, and a hollow hole 603 opened at the center of the ball spline screw 6.

[0022] The hollow hole 603 has a wear-resistant layer 601 pre-set on its inner wall. The hollow hole 603 has a shoulder 602 and a shoulder 605 at both ends, and a retaining ring groove 606 and a retaining ring groove 604 that cooperate with the shoulder 602 and the shoulder 605 respectively. The end 203 of the robot cable 2 passes through the lower end of the hollow hole 603 to reduce the frictional wear between the robot cable 2 and the wall of the hollow hole 603.

[0023] The cable chain assembly includes a cable chain 15, which has a moving end 1502 and a fixed end 1501. The moving end 1502 is fixedly connected to the fixed plate 1 through a fixing hole 102 on the fixed plate 1, and the fixed end 1501 is detachably fixedly connected to the machine body 12 through a cable chain mounting plate 14.

[0024] To overcome the shortcomings of existing technologies, a wiring structure is provided that enables the arrangement of robot cables inside robot joints. This structure ensures that the chain link structure of the drag chain 15 maintains a fixed bending radius during its movement, constraining the bending shape of the moving end 201 of the cable. This allows the robot cable 2 to maintain a fixed bending radius during movement, preventing the robot cable 2 from rotating synchronously with the rotating parts, thus extending the life of the robot cable 2 and achieving the goals of saving robot installation space and improving the life of the robot cable.

[0025] The moving ends 201 of the robot cable 2 are evenly arranged inside the drag chain 15. The chain link structure design of the drag chain 15 ensures that it maintains a fixed bending radius during movement, thus constraining the bending shape of the moving ends 201 of the cable.

[0026] The rotating assembly includes a first fixed plate 1, a second fixed plate 4, a first fixed hole 102 and a second fixed hole 103 on the first fixed plate 1, a first bearing mounting sleeve 5 that is rotatably fitted to the first fixed plate 1 via a second bearing 19, a ball spline screw 6 rigidly connected to the first bearing mounting sleeve 5 and rotating synchronously with the ball spline screw 6, a wire-passing hole 101 on the first fixed plate 1 for the robot cable 2 to pass through, and a first fixed plate fillet 104 and a second fixed plate fillet 105 respectively set at both ends of the wall of the wire-passing hole 101 to avoid wear between the robot cable 2 and the edge of the first fixed plate 1.

[0027] A bearing 19 is installed between the fixing plate 1 and the first bearing mounting sleeve 5.

[0028] A bearing 7 is installed between the second bearing mounting sleeve 8 and the hollow hole 603.

[0029] The bearing 9 is installed between the third bearing mounting sleeve 11 and the hollow hole 603. The edge assembly includes a second bearing mounting sleeve 8 and a third bearing mounting sleeve 11 that are rotatably fitted to the inner wall of the hollow hole 603 of the ball spline screw 6 through bearing 7 and bearing 9 respectively. The second bearing mounting sleeve 8 and the third bearing mounting sleeve 11 do not rotate with the ball spline screw 6, but only serve to support the wire guide sleeve 3.

[0030] The fixing components include a first wire guide sleeve 3, a second wire guide sleeve 10, a second bearing mounting sleeve 8 and a third bearing mounting sleeve 11 that are fixed with the first wire guide sleeve 3 by an interference fit, a wire guide hole 301 opened on the first wire guide sleeve 3, a wire clamp 16 fixedly connected to the first fixing plate 1 by a wire clamp mounting plate 17, and a cable fixing bracket 18 fixedly connected to the first fixing plate 1. The diameter of the wire guide hole 301 is adapted to the outer diameter of the robot cable 2. A slot 303 is opened on the side of the hole wall of the wire guide hole 301 to facilitate the lateral insertion and assembly of the robot cable 2. The rounded corners 302 of the wire guide sleeves respectively set at both ends of the first wire guide sleeve 3 are used to further reduce the friction between the robot cable 2 and the first wire guide sleeve 3.

[0031] Both the wire guide sleeve 3 and the wire guide sleeve 10 are made of soft material.

[0032] The clamp 16 has a clamp hole 1601, which fits tightly with the cable fixing end 202 of the robot cable 2; the cable fixing bracket 18 is fixedly connected to the fixing plate 1, and the two together realize the axial positioning of the cable fixing end 202.

[0033] The cable fixing end 202 is fixed on the cable fixing bracket 18, and then passes through the cable sleeve 1 3, the hollow hole 603 and the cable sleeve 2 10 respectively. The cable end 203 passes out from the end of the hollow hole. The cable fixing end 202 and the hollow hole 603 remain relatively stationary. The robot cables are all wrapped inside the body 12 and the outer shell 13.

[0034] Robot cable 2 is internally laid out according to the following path: The cable moving end 201 is led out from the body 12, embedded inside the cable chain 15, and extends with the cable chain 15 to the fixed plate 1. After the robot cable 2 passes through the drag chain 15, it passes through the cable hole 101 of the fixing plate 1 and is embedded in the clamp hole 1601 of the clamp 16 to achieve radial fixation. The cable fixing end 202 passes through the cable guide sleeve 3 in the second bearing mounting sleeve 8, the hollow hole 603 of the ball spline screw 6, and the cable guide sleeve 10 in the third bearing mounting sleeve 11 in sequence. Finally, the cable end 203 passes out from the lower end of the hollow hole 603 and connects to the power / signal interface of the end effector. After assembly, the cable fixed end 202 and the hollow hole 603 remain relatively stationary, while the cable moving end 201 maintains a fixed bending radius movement under the constraint of the cable chain 15.

[0035] When the SCARA robot performs its tasks, the ball spline screw 6 synchronously completes the vertical linear movement along a predetermined axis and the rotational movement around the axis. This structure satisfies the above movements and achieves cable protection through the following design: Linear motion: The moving end 1502 of the cable chain 15 moves up and down synchronously with the ball spline screw 6. The cable chain 15 extends and retracts with a fixed bending radius to avoid irregular bending or stress concentration at the moving end 201 of the cable. Rotational motion: The first bearing mounting sleeve 5 rotates with the ball spline screw 6. The fixing plate 1 maintains a rotatable fit with the first bearing mounting sleeve 5 through the bearing 2 19, thus maintaining relative stillness. The second bearing mounting sleeve 8 and the third bearing mounting sleeve 11 maintain a rotatable fit with the hollow hole 603 through the bearing 1 7 and the bearing 3 9, and do not rotate with the ball spline screw 6. This allows the cable fixing end 202, which passes through the cable sleeve 3, to avoid rotational motion and only follow the ball spline screw 6 in a linear motion. The cable fixing end 202 has no direct contact with the wear-resistant layer 601 on the inner wall of the hollow hole 603. The soft material of the cable sleeve 3 and the rounded corner design of the cable hole 101 of the fixing plate form multiple protections, effectively avoiding rigid friction between the robot cable 2 and the structural components. The cable moving end 201 is completely wrapped by the drag chain 15 to avoid wear caused by the external environment.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely prisms of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A robot cable wiring structure, comprising a body (12) as a basic load-bearing component and a shell (13) fixed to the top of the body (12) by fasteners, characterized in that: It also includes a built-in component for reducing frictional wear between the robot cable (2) and the hole wall, a drag chain component that forms a detachable fixed connection with the body (12) through the drag chain mounting plate (14), a rotating component to prevent edge wear of the robot cable (2), an edge component to further reduce friction of the robot cable (2), and a fixing component that together achieves axial positioning of the cable fixing end (202) of the robot cable (2).

2. The robot cable wiring structure according to claim 1, characterized in that: The built-in components include a ball spline screw (6) assembled inside the body (12) along a fixed axial direction, and a hollow hole (603) opened at the center of the ball spline screw (6).

3. The robot cable wiring structure according to claim 2, characterized in that: The hollow hole (603) has a wear-resistant layer (601) pre-set on the inner wall. The hollow hole (603) has a shoulder 1 (602) and a shoulder 2 (605) respectively at both ends, and a retaining ring groove 2 (606) and a retaining ring groove 1 (604) respectively cooperate with the shoulder 1 (602) and the shoulder 2 (605).

4. The robot cable wiring structure according to claim 1, characterized in that: The cable chain assembly includes a cable chain (15) having a moving end (1502) and a fixed end (1501).

5. A robot cable wiring structure according to claim 4, characterized in that: The cable movement end (201) on the robot cable (2) is evenly arranged inside the drag chain (15).

6. The robot cable wiring structure according to claim 1, characterized in that: The rotating assembly includes a first fixed plate (1), a second fixed plate (4), a first fixed hole (102) and a second fixed hole (103) on the first fixed plate (1), a first bearing mounting sleeve (5) that forms a rotational fit with the first fixed plate (1) through a second bearing (19), a ball spline screw (6) rigidly connected to the first bearing mounting sleeve (5), a wire hole (101) on the first fixed plate (1), and two rounded corners (104 and 105) on the first fixed plate (101) respectively provided at both ends of the wall of the wire hole (101).

7. The robot cable wiring structure according to claim 2, characterized in that: The edge assembly includes a second bearing mounting sleeve (8) and a third bearing mounting sleeve (11) that are rotatably fitted to the inner wall of the hollow hole (603) of the ball spline screw (6) through the first bearing (7) and the third bearing (9), respectively.

8. A robot cable wiring structure according to claim 6, characterized in that: The fixing components include wire guide sleeve one (3), wire guide sleeve two (10), second bearing mounting sleeve (8) and third bearing mounting sleeve (11) which are fixed with wire guide sleeve one (3) by interference fit, wire guide hole (301) opened on wire guide sleeve one (3), wire clamp (16) fixedly connected to fixing plate one (1) by wire clamp mounting plate (17), and cable fixing bracket (18) fixedly connected to fixing plate one (1).

9. A robot cable wiring structure according to claim 8, characterized in that: Both the wire guide sleeve one (3) and the wire guide sleeve two (10) are made of soft material.

10. A robot cable wiring structure according to claim 8, characterized in that: The wire clamp (16) is provided with a wire clamp hole (1601).

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